Transfer learning of convolutional neural networks from visible color (rbg) to infrared (ir) domain

ABSTRACT

Described is a system for converting a convolutional neural network (CNN) designed and trained for color (RGB) images to one that works on infrared (IR) or grayscale images. The converted CNN comprises a series of convolution layers of neurons arranged in a set kernels having corresponding depth slices. The converted CNN is used for performing object detection. A mechanical component of an autonomous device is controlled based on the object detection.

CROSS-REFERENCE TO RELATED APPLICATIONS

This is a Non-Provisional patent application of U.S. ProvisionalApplication No. 62/510,741, filed in the United States on May 24, 2017,entitled, “Transfer Learning of Convolutional Neural Networks fromVisible Color (RBG) to Infrared (IR) Domain,” the entirety of which ishereby incorporated by reference.

GOVERNMENT LICENSE RIGHTS

This invention was made with government support under U.S. GovernmentContract Number N00014-15-C-0091. The government may have certain rightsin the invention.

BACKGROUND OF INVENTION (1) Field of Invention

The present invention relates to a system for transfer learning and,more particularly, to a system for transfer learning that converts aconvolutional neural network (CNN) designed and trained for color imagesto one that functions on infrared (IR) or grayscale images.

(2) Description of Related Art

Convolutional neural networks (CNN) (deep) learning are thestate-of-the-art in several computer vision tasks, including objectdetection, object recognition, scene classification, and imagecaptioning. The vast majority of CNN work in the public and academicdomains is on color imagery in the visible spectrum. This includes theavailable large image datasets necessary for CNN training and theresulting weights files of trained networks. Such datasets and trainednetworks are not nearly as readily available for processing infrared(IR) imagery.

Training IR CNNs from scratch is possible, but is limited by the lack oflarge IR imagery datasets. Gathering images, labeling classes, andcurating a dataset requires significant effort, even more so in IR thanRGB (red, green, blue).

Thus, a continuing need exists for a method for direction conversion ofa RGB CNN to the IR domain.

SUMMARY OF INVENTION

The present invention relates to a system for transfer learning and,more particularly, to a system for transfer learning that converts aconvolutional neural network (CNN) designed and trained for color imagesto one that functions on infrared (IR) or grayscale images. The systemcomprises one or more processors and a non-transitory computer-readablemedium having executable instructions encoded thereon such that whenexecuted, the one or more processors perform multiple operations. Apre-trained CNN for color RGB input is converted into a CNN that can beapplied to infrared (IR) and grayscale input images, resulting in aconverted CNN. The converted CNN comprises a series of convolutionlayers of neurons, wherein the neurons at each convolution layer arearranged in a set kernels having corresponding depth slices. Theconverted CNN is used for performing object detection. A mechanicalcomponent of an autonomous device is controlled based on the objectdetection.

In another aspect, the system converts a first convolution layer'skernels from RGB to grayscale.

In another aspect, each kernel is treated as a RGB 3-channel image andconverted into a single channel grayscale image.

In another aspect, the system identifies and removes first convolutionlayer kernels having a variance below a predetermined threshold, andremoves corresponding depth slices from the identified kernels in asecond convolution layer.

In another aspect, the system identifies and merges first convolutionallayer kernels having a variance below a predetermined threshold into asingle kernel, and merges corresponding depth slices from the identifiedkernels in a second convolution layer.

In another aspect, the system extracts high-dimensional features fromthe converted CNN, and trains a classifier using the extractedhigh-dimensional features.

In another aspect, the autonomous device is an autonomous vehicle.

In another aspect, the autonomous device is a robot.

Finally, the present invention also includes a computer program productand a computer implemented method. The computer program product includescomputer-readable instructions stored on a non-transitorycomputer-readable medium that are executable by a computer having one ormore processors, such that upon execution of the instructions, the oneor more processors perform the operations listed herein. Alternatively,the computer implemented method includes an act of causing a computer toexecute such instructions and perform the resulting operations.

BRIEF DESCRIPTION OF THE DRAWINGS

The file of this patent or patent application publication contains atleast one drawing executed in color. Copies of this patent or patentapplication publication with color drawing(s) will be provided by theOffice upon request and payment of the necessary fee.

The objects, features and advantages of the present invention will beapparent from the following detailed descriptions of the various aspectsof the invention in conjunction with reference to the followingdrawings, where:

FIG. 1 is a block diagram depicting the components of a system fortransfer learning of convolutional neural networks (CNN) according tosome embodiments of the present disclosure;

FIG. 2 is an illustration of a computer program product according tosome embodiments of the present disclosure;

FIG. 3 is an illustration of 7×7 kernels arranged in a mosaic from anRGB (red, green, blue) CNN before and after being converted to singlechannel kernels for an infrared CNN according to some embodiments of thepresent disclosure;

FIG. 4 is an illustration of RGB kernels before and after conversionaccording to some embodiments of the present disclosure;

FIG. 5 is an illustration of removal of non-informative “flat” kernelsafter conversion and the reduction of the corresponding output featuremaps according to some embodiments of the present disclosure;

FIG. 6 is a flow diagram illustrating a system for transfer learningthat converts a CNN designed and trained for color images to one thatfunctions on infrared (IR) or grayscale images according to someembodiments of the present disclosure; and

FIG. 7 is a flow diagram illustrating control of devices using theconverted CNN according to some embodiments of the present disclosure.

DETAILED DESCRIPTION

The present invention relates to a system for transfer learning and,more particularly, to a system for transfer learning that converts aconvolutional neural network (CNN) designed and trained for color imagesto one that functions on infrared (IR) or grayscale images. Thefollowing description is presented to enable one of ordinary skill inthe art to make and use the invention and to incorporate it in thecontext of particular applications. Various modifications, as well as avariety of uses in different applications will be readily apparent tothose skilled in the art, and the general principles defined herein maybe applied to a wide range of aspects. Thus, the present invention isnot intended to be limited to the aspects presented, but is to beaccorded the widest scope consistent with the principles and novelfeatures disclosed herein.

In the following detailed description, numerous specific details are setforth in order to provide a more thorough understanding of the presentinvention. However, it will be apparent to one skilled in the art thatthe present invention may be practiced without necessarily being limitedto these specific details. In other instances, well-known structures anddevices are shown in block diagram form, rather than in detail, in orderto avoid obscuring the present invention.

The reader's attention is directed to all papers and documents which arefiled concurrently with this specification and which are open to publicinspection with this specification, and the contents of all such papersand documents are incorporated herein by reference. All the featuresdisclosed in this specification, (including any accompanying claims,abstract, and drawings) may be replaced by alternative features servingthe same, equivalent or similar purpose, unless expressly statedotherwise. Thus, unless expressly stated otherwise, each featuredisclosed is one example only of a generic series of equivalent orsimilar features.

Furthermore, any element in a claim that does not explicitly state“means for” performing a specified function, or “step for” performing aspecific function, is not to be interpreted as a “means” or “step”clause as specified in 35 U.S.C. Section 112, Paragraph 6. Inparticular, the use of “step of” or “act of” in the claims herein is notintended to invoke the provisions of 35 U.S.C. 112, Paragraph 6.

(1)Principal Aspects

Various embodiments of the invention include three “principal” aspects.The first is a system for transfer learning of convolutional neuralnetworks (CNN). The system is typically in the form of a computer systemoperating software or in the form of a “hard-coded” instruction set.This system may be incorporated into a wide variety of devices thatprovide different functionalities. The second principal aspect is amethod, typically in the form of software, operated using a dataprocessing system (computer). The third principal aspect is a computerprogram product. The computer program product generally representscomputer-readable instructions stored on a non-transitorycomputer-readable medium such as an optical storage device, e.g., acompact disc (CD) or digital versatile disc (DVD), or a magnetic storagedevice such as a floppy disk or magnetic tape. Other, non-limitingexamples of computer-readable media include hard disks, read-only memory(ROM), and flash-type memories. These aspects will be described in moredetail below.

A block diagram depicting an example of a system (i.e., computer system100) of the present invention is provided in FIG. 1. The computer system100 is configured to perform calculations, processes, operations, and/orfunctions associated with a program or algorithm. In one aspect, certainprocesses and steps discussed herein are realized as a series ofinstructions (e.g., software program) that reside within computerreadable memory units and are executed by one or more processors of thecomputer system 100. When executed, the instructions cause the computersystem 100 to perform specific actions and exhibit specific behavior,such as described herein.

The computer system 100 may include an address/data bus 102 that isconfigured to communicate information. Additionally, one or more dataprocessing units, such as a processor 104 (or processors), are coupledwith the address/data bus 102. The processor 104 is configured toprocess information and instructions. In an aspect, the processor 104 isa microprocessor. Alternatively, the processor 104 may be a differenttype of processor such as a parallel processor, application-specificintegrated circuit (ASIC), programmable logic array (PLA), complexprogrammable logic device (CPLD), or a field programmable gate array(FPGA).

The computer system 100 is configured to utilize one or more datastorage units. The computer system 100 may include a volatile memoryunit 106 (e.g., random access memory (“RAM”), static RAM, dynamic RAM,etc.) coupled with the address/data bus 102, wherein a volatile memoryunit 106 is configured to store information and instructions for theprocessor 104. The computer system 100 further may include anon-volatile memory unit 108 (e.g., read-only memory (“ROM”),programmable ROM (“PROM”), erasable programmable ROM (“EPROM”),electrically erasable programmable ROM “EEPROM”), flash memory, etc.)coupled with the address/data bus 102, wherein the non-volatile memoryunit 108 is configured to store static information and instructions forthe processor 104. Alternatively, the computer system 100 may executeinstructions retrieved from an online data storage unit such as in“Cloud” computing. In an aspect, the computer system 100 also mayinclude one or more interfaces, such as an interface 110, coupled withthe address/data bus 102. The one or more interfaces are configured toenable the computer system 100 to interface with other electronicdevices and computer systems. The communication interfaces implementedby the one or more interfaces may include wireline (e.g., serial cables,modems, network adaptors, etc.) and/or wireless (e.g., wireless modems,wireless network adaptors, etc.) communication technology.

In one aspect, the computer system 100 may include an input device 112coupled with the address/data bus 102, wherein the input device 112 isconfigured to communicate information and command selections to theprocessor 100. In accordance with one aspect, the input device 112 is analphanumeric input device, such as a keyboard, that may includealphanumeric and/or function keys. Alternatively, the input device 112may be an input device other than an alphanumeric input device. In anaspect, the computer system 100 may include a cursor control device 114coupled with the address/data bus 102, wherein the cursor control device114 is configured to communicate user input information and/or commandselections to the processor 100. In an aspect, the cursor control device114 is implemented using a device such as a mouse, a track-ball, atrack-pad, an optical tracking device, or a touch screen. The foregoingnotwithstanding, in an aspect, the cursor control device 114 is directedand/or activated via input from the input device 112, such as inresponse to the use of special keys and key sequence commands associatedwith the input device 112. In an alternative aspect, the cursor controldevice 114 is configured to be directed or guided by voice commands.

In an aspect, the computer system 100 further may include one or moreoptional computer usable data storage devices, such as a storage device116, coupled with the address/data bus 102. The storage device 116 isconfigured to store information and/or computer executable instructions.In one aspect, the storage device 116 is a storage device such as amagnetic or optical disk drive (e.g., hard disk drive (“HDD”), floppydiskette, compact disk read only memory (“CD-ROM”), digital versatiledisk (“DVD”)). Pursuant to one aspect, a display device 118 is coupledwith the address/data bus 102, wherein the display device 118 isconfigured to display video and/or graphics. In an aspect, the displaydevice 118 may include a cathode ray tube (“CRT”), liquid crystaldisplay (“LCD”), field emission display (“FED”), plasma display, or anyother display device suitable for displaying video and/or graphic imagesand alphanumeric characters recognizable to a user.

The computer system 100 presented herein is an example computingenvironment in accordance with an aspect. However, the non-limitingexample of the computer system 100 is not strictly limited to being acomputer system. For example, an aspect provides that the computersystem 100 represents a type of data processing analysis that may beused in accordance with various aspects described herein. Moreover,other computing systems may also be implemented. Indeed, the spirit andscope of the present technology is not limited to any single dataprocessing environment. Thus, in an aspect, one or more operations ofvarious aspects of the present technology are controlled or implementedusing computer-executable instructions, such as program modules, beingexecuted by a computer. In one implementation, such program modulesinclude routines, programs, objects, components and/or data structuresthat are configured to perform particular tasks or implement particularabstract data types. In addition, an aspect provides that one or moreaspects of the present technology are implemented by utilizing one ormore distributed computing environments, such as where tasks areperformed by remote processing devices that are linked through acommunications network, or such as where various program modules arelocated in both local and remote computer-storage media includingmemory-storage devices.

An illustrative diagram of a computer program product (i.e., storagedevice) embodying the present invention is depicted in FIG. 2. Thecomputer program product is depicted as floppy disk 200 or an opticaldisk 202 such as a CD or DVD. However, as mentioned previously, thecomputer program product generally represents computer-readableinstructions stored on any compatible non-transitory computer-readablemedium. The term “instructions” as used with respect to this inventiongenerally indicates a set of operations to be performed on a computer,and may represent pieces of a whole program or individual, separable,software modules. Non-limiting examples of “instruction” includecomputer program code (source or object code) and “hard-coded”electronics (i.e. computer operations coded into a computer chip). The“instruction” is stored on any non-transitory computer-readable medium,such as in the memory of a computer or on a floppy disk, a CD-ROM, and aflash drive. In either event, the instructions are encoded on anon-transitory computer-readable medium.

(2) Introduction

Learning with deep convolutional neural networks is the state-of-the-artin several computer vision tasks, including object detection, objectrecognition, scene classification, and image captioning. A CNN for imageprocessing consists of a series of layers of neurons that have inputfrom the previous layer and output to the next layer. The first layercontains the input image, and the last layer contains the output which,depending on the application, might be a class probability distribution,set of object bounding boxes, etc. In a “convolutional” neural networkspecifically, the neurons at each convolution layer are arranged in aset of kernels of weights, each with a width, height, and depth (i.e.,three-dimensional (3D) shape). These 3D kernels are convolved over theprevious layer's width/height dimensions to produce the output data. Thedepth of the kernels at layer N has to match the number of channels inlayer N−1, and the number of kernels at layer N will be the number ofchannels in its output, and so on from the input to the output layer.

The vast majority of CNN work in the public and academic domains is oncolor imagery in the visible spectrum. This includes the available largeimage datasets necessary for CNN training and the resulting weightsfiles of trained networks. Such datasets and trained networks are notnearly as readily available for processing IR imagery. This inventiondescribed herein addresses this problem by taking the results fromtraining in the RGB domain and adapting them such that they can be usedor refined in the IR domain. This will enable faster, easierapplication-specific training of IR CNNs and result in more accuratecomputer vision on IR imagery for various visual processingapplications, non-limiting examples of which include object recognition,scene understanding, behavior recognition, and captioning. Furtherdetails are provided below.

(3) Specific Details of Various Embodiments

Described is a system and method for converting a convolutional neuralnetwork (CNN) designed and trained for color (RGB) images to one thatworks on infrared (IR) or grayscale images.

(3.1) Step 1: RGB to IR/Gray Conversion

In a typical RGB CNN network, the input layer accepting color imageswill have 3 channels (e.g., 227×227×3 for a 227×227 pixel image), andthe kernels in the first convolution layer will have a depth of 3 (e.g.,11×11×3×96, where 96 is the number of kernels, which also equals to thenumber of channels for the second convolution layer). In an IR CNNnetwork, the input layer accepting IR images will have 1 channel (e.g.,227×227×1 for a 227×227 pixel image), and the kernels in the firstconvolution layer will have a depth of 1 (e.g., 11×11×1×96).

First, the first convolution layer's kernels are converted from RGB tograyscale. Each kernel is treated as a small RGB 3-channel image andconverted to a single channel grayscale image of the same size byapplying the formula at each pixel:

gray(i,j)=0.299r(i,j)+0.587g(i,j)+0.114b(i,j),∀i,j over the kernel widthand height,

where r, g, b represent the 3 channels of each kernel, and gray(i, j) isthe resulting single channel kernel. In the above example, the kernelwidth and height are both 11. FIG. 3 shows an example of a 96 11×11kernels arranged in a mosaic from an original first-layer kernels of anRGB CNN (element 300) and the converted single channel kernels for an IRCNN or grayscale input (element 302) using the approach according toembodiments of the present disclosure.

(3.2) Step 2: Remove Non-Informative Kernels

As depicted in FIG. 3, many kernels are almost identical before andafter conversion (comparing elements 300 and 302, respectively), such asthose that detect changes in intensity along object boundaries or edges.However, when converting from 3 channels to 1 channel naturally, someinformation is lost. As a result, some kernels after conversion nolonger represent a useful, discriminating filter. For example, FIG. 4 isan illustration of RGB kernels before (element 400) and after (element402) conversion according to some embodiments of the present disclosure.Some RGB kernels that respond to particular colors in element 400 becomeconstant gray patches, as indicated by the outlined patches in element402 of FIG. 4.

The second step of the method according to embodiments of the presentdisclosure is to identify and remove those first convolution layerkernels from the conversion with variance below a certain threshold. Theremoval of certain kernels will reduce the number of output featurelayers (e.g., from 96 to 96-K where K is the number of such kernelsbeing removed). This necessitates removing the corresponding depthslices from the kernels in the second convolution layer. Thus, each ofthe second layer convolution kernels will have K fewer slides for adepth of (96-K).

FIG. 5 illustrates removal of non-informative “flat” kernels afterconversion (represented by squares 500) and the reduction of thecorresponding output feature maps (bold lines 502), which necessitatesthe kernel depth reduction of the second convolution layer.

(3.3) Step 2: Merge Non-Informative Kernels

In an alternative embodiment, instead of totally eliminatingnon-informative (flat) kernels after the conversion as outlined above,one can alternatively merge these kernels into a single kernel tominimize the disturbance the conversion may have caused:

gray_(m)(i,j)=Σgray_(k)(i,j)∀k=1,2, . . . K,∀i,j over the kernel widthand height, and

b _(m) =Σb _(k) ∀k=1,2, . . . K,

where gray_(k) are the gray scale kernels identify to be non-information(or “flat”) as described above, and b_(k) are the corresponding biasesof those kernels.

After the merging, the non-informative (flat) kernels are replaced witha single merged kernel represented by gray_(m) and b_(m), and the outputfeature maps corresponding to the K kernels being merged will collapseinto one channel. This requires us to merge the corresponding slices ofthe kernels for the second convolution layer in a similar way:

kern_(m)(i,j)=Σkern_(k)(i,j)∀k=1,2, . . . K

∀ij over the second convolutional kernel width and height,where kern_(k) is k^(th) slice of a second convolution layer kernel, andkern_(m) is the merged slice of the kernel.

(3.4) Experimental Studies

(3.4.1) First Embodiment: Color CNN as Initialization

In the first embodiment, a previously trained CNN was used on colorimages as initialization and some domain-specific IR training wasperformed. The approach outlined above was implemented and tested asfollows. First, start with a CNN that was pre-trained on image framesfrom the UCF-101 color activity dataset. Then, the first layer kernelweights from the trained CNN is converted from 7×7×3 dimensionality to7×7×1. The rationale for this initialization is that many featuredetectors learned on RGB data would also be useful in processing IR data(e.g., horizontal edge detectors). Other features looking for colorcontrasts become flat gray patches that are not as useful in IR. It willbe useful to learn how to leverage large existing RGB datasets whilealso learning features specific to IR.

This refined CNN is now re-trained on Long Wave Infrared (LWIR) datathat comprises videos from both static and moving ground vehicles, withscenarios involving human actors performing 13 types of activitiesinvolving carrying objects (e.g., carrying mock-RPG, suitcase, shovel).Training and testing data were image chips extracted from the IR videosbased on the ground truth bounding boxes. The 16-bit IR chips wereconverted to 8-bit, rescaling the range on a per-chip basis. Data waspartitioned using approximately 80% sequences as training and 20% astesting from both stationary and moving platforms. Chips smaller than 50pixels in height were not considered in either training or testing.

The 13 activity types were divided into three main classes (SMALL,LARGE, CASE) based on the size of the object being carried. The CASEclass is a separate class that includes a person carrying a suitcase(since the number of opportunities for the “case” class is much smallerthan for the other two classes). Test classification accuracy is about65% correct on the 3-class problem. The confusion matrix was:

SMALL LARGE CASE SMALL 70.7 26.3 3.0 LARGE 54.3 44.3 1.4 CASE 22.3 7.869.8 Global correct %: 65.314685

(3.4.2) Second Embodiment: Converted Color CNN Feature Extractor

A CNN previously trained on color images was taken as initialization andconverted into a CNN that is ready to process IR images. No additionalCNN training is needed in this embodiment; only a traditional machinelearning classifier training is needed as a last step. An open-sourceCNN (e.g., OverFeat, AlexNet) was trained on large data set of ImageNetconsisting of millions of color images. The first layer color RGBkernels were converted into gray scale as previously outlined above.Additionally, any flat kernels from the conversion and correspondingslices of the second layer convolution kernels were removed as outlinedabove.

At this point, the original CNN for color RGB input has been convertedto one that is fully ready to accept IR or grayscale images. However,instead of using this converted CNN as the starting point to dodomain-specific training as done in embodiment 1 (e.g., activityrecognition in IR videos), the last layer of the CNN (i.e., theclassifier layer) is taken away, and instead the high dimensionalfeature vector that was input to this layer is used. In the case ofAlexNet and OverFeat, this is a 4096-D feature vector. Then, adomain-specific traditional machine learning classifier (e.g., SupportVector Machine) is trained using these features. The advantage of thisapproach is that one can now have a domain-specific system (pre-trainedCNN+SVM classifier) without lots of training data that would have beenrequired if one had started out from scratch, especially in IR domainwhere training data is scarce. For example, if one wanted to train aclassifier to recognize different types of tanks in IR, but had only asmall number (e.g., 20-100) of images of each tank type, this wouldnormally not be enough training data to tune the many parameters of aCNN. However, an RGB CNN trained on millions of images of cars could betuned more easily and would learn features that would also apply totanks. The system described herein can convert the CNN to IR, use it asa feature extractor, train an SVM last layer on the limited IR data, andthen have an effective IR tank classifier.

FIG. 6 is a flow diagram summarizing the system according to embodimentsof the present disclosure. In one embodiment, from a CNN pre-trained onRGB images (element 600), non-informative kernels of the firstconvolution layer are identified and removed (element 602). Thecorresponding depth slices from the identified kernels are removed inthe second convolution layer (element 604). In another embodiment,non-informative kernels of the first convolution layer of a CNNpre-trained on RGB images (element 600) are identified and merged(element 610). The corresponding depth slices from the identifiedkernels are merged in the second convolution layer (element 612). Inboth embodiments, the result is a converted CNN that can be applied toIR and grayscale images (element 606). The converted CNN can be used forapplication-specific training (element 608).

The approach according to embodiments of the present disclosureleverages many open-source CNNs trained (or custom-trained) on largedata sets of RGB images that are readily available. The converted CNNscan be used for applications, such as object detection, objectrecognition, scene classification, and image captioning, with IR orgrayscale images, significantly reducing training and developmentefforts. This invention is relevant to any application that uses orneeds IR camera sensors.

FIG. 7 is a flow diagram illustrating using a processor 104 to control adevice 700 using the converted CNN. Non-limiting examples of devices 700that can be controlled via the processor 104 include a motor vehicle ora motor vehicle component (electrical, non-electrical, mechanical), suchas a brake, a steering mechanism, suspension, or safety device (e.g.,airbags, seatbelt tensioners, etc.). Further, the vehicle could be anunmanned aerial vehicle (UAV), an autonomous self-driving groundvehicle, or a human operated vehicle controlled either by a driver or bya remote operator. For instance, upon object detection and recognition,the system can cause the autonomous vehicle to perform a drivingoperation/maneuver (such as steering or another command) in line withdriving parameters in accordance with the recognized object. Forexample, if the system recognizes a bicyclist or another vehicle, thesystem described herein can cause a vehicle maneuver/operation to beperformed to avoid a collision with the bicyclist or vehicle (or anyother object that should be avoided while driving). The system can causethe autonomous vehicle to apply a functional movement response, such asa braking operation followed by a steering operation, to redirectvehicle away from the object, thereby avoiding a collision.

Other appropriate responses may include one or more of a steeringoperation, a throttle operation to increase speed or to decrease speed,or a decision to maintain course and speed without change. The responsesmay be appropriate for avoiding a collision, improving travel speed, orimproving efficiency. As can be appreciated by one skilled in the art,control of other device types is also possible. Thus, there are a numberof automated actions that can be initiated by the autonomous vehiclegiven the particular object detected and the circumstances in which thesystem is implemented. For instance, the method can be applied to bordersecurity (e.g., detecting smugglers at night), intelligence,surveillance, and reconnaissance (ISR), drones, autonomous vehicles, andperception and safety in autonomous systems (e.g., detecting humansinteracting with robots in a manufacturing environment).

In a manufacturing environment, for instance, the device 700 can be anautonomous device, such as a robot, needs an IR camera to do its job(e.g., detecting hot vs. cold surfaces in a steel mill) and the robot isworking alongside humans, the system can process images from the IRcamera to detect where the humans are for safety based on the infraredradiation emitted from the humans. Specifically, the system can causethe robot to avoid coming into physical contact with the humans. In thisexample, the system would cause an avoidance operation to be performed,which would include an operation/maneuver that controls mechanicalcomponents of the robot causing the robot to stop, turn, accelerate,slow down, or make no movement action depending on the situation. Theability to use IR sensors in this situation is an improvement and costsavings over adding an additional RGB sensor to the robot.

Finally, while this invention has been described in terms of severalembodiments, one of ordinary skill in the art will readily recognizethat the invention may have other applications in other environments. Itshould be noted that many embodiments and implementations are possible.Further, the following claims are in no way intended to limit the scopeof the present invention to the specific embodiments described above. Inaddition, any recitation of “means for” is intended to evoke ameans-plus-function reading of an element and a claim, whereas, anyelements that do not specifically use the recitation “means for”, arenot intended to be read as means-plus-function elements, even if theclaim otherwise includes the word “means”. Further, while particularmethod steps have been recited in a particular order, the method stepsmay occur in any desired order and fall within the scope of the presentinvention.

What is claimed is:
 1. A system for transfer learning of convolutionalneural networks (CNNs), the system comprising: one or more processorsand a non-transitory computer-readable medium having executableinstructions encoded thereon such that when executed, the one or moreprocessors perform operations of: converting a pre-trained CNN for colorRGB input into a CNN that can be applied to infrared (IR) and grayscaleinput images, resulting in a converted CNN, wherein the converted CNNcomprises a series of convolution layers of neurons, wherein the neuronsat each convolution layer are arranged in a set kernels havingcorresponding depth slices; using the converted CNN, performing objectdetection; and controlling a mechanical component of an autonomousdevice based on the object detection.
 2. The system as set forth inclaim 1, wherein converting the pre-trained CCN further comprises anoperation of converting a first convolution layer's kernels from RGB tograyscale.
 3. The system as set forth in claim 2, wherein each kernel istreated as a RGB 3-channel image and converted into a single channelgrayscale image.
 4. The system as set forth in claim 2, whereinconverting the pre-trained CNN further comprises operations of:identifying and removing first convolution layer kernels having avariance below a predetermined threshold; and removing correspondingdepth slices from the identified kernels in a second convolution layer.5. The system as set forth in claim 2, wherein converting thepre-trained CNN further comprises operations of: identifying and mergingfirst convolutional layer kernels having a variance below apredetermined threshold into a single kernel; and merging correspondingdepth slices from the identified kernels in a second convolution layer.6. The system as set forth in claim 1, wherein converting thepre-trained CNN further comprises operations of: extractinghigh-dimensional features from the converted CNN; and training aclassifier using the extracted high-dimensional features.
 7. A computerimplemented method for transfer learning of convolutional neuralnetworks (CNNs), the method comprising an act of: causing one or moreprocessors to execute instructions encoded on a non-transitorycomputer-readable medium, such that upon execution, the one or moreprocessors perform operations of: converting a pre-trained CNN for colorRGB input into a CNN that can be applied to infrared (IR) and grayscaleinput images, resulting in a converted CNN, wherein the converted CNNcomprises a series of convolution layers of neurons, wherein the neuronsat each convolution layer are arranged in a set kernels havingcorresponding depth slices; and using the converted CNN, performingobject detection; and controlling a mechanical component of anautonomous device based on the object detection.
 8. The method as setforth in claim 7, wherein converting the pre-trained CNN furthercomprises an operation of converting a first convolution layer's kernelsfrom RGB to grayscale.
 9. The method as set forth in claim 8, whereineach kernel is treated as a RGB 3-channel image and converted into asingle channel grayscale image.
 10. The method as set forth in claim 8,wherein converting the pre-trained CNN further comprises operations of:identifying and removing first convolution layer kernels having avariance below a predetermined threshold; and removing correspondingdepth slices from the identified kernels in a second convolution layer.11. The method as set forth in claim 8, wherein converting thepre-trained CNN further comprises operations of: identifying and mergingfirst convolutional layer kernels having a variance below apredetermined threshold into a single kernel; and merging correspondingdepth slices from the identified kernels in a second convolution layer.12. The method as set forth in claim 7, wherein converting thepre-trained CNN further comprises operations of: extractinghigh-dimensional features from the converted CNN; and training aclassifier using the extracted high-dimensional features.
 13. A computerprogram product for transfer learning of convolutional neural networks(CNNs), the computer program product comprising: computer-readableinstructions stored on a non-transitory computer-readable medium thatare executable by a computer having one or more processors for causingthe processor to perform operations of: converting a pre-trained CNN forcolor RGB input into a CNN that can be applied to infrared (IR) andgrayscale input images, resulting in a converted CNN, wherein theconverted CNN comprises a series of convolution layers of neurons,wherein the neurons at each convolution layer are arranged in a setkernels having corresponding depth slices; and using the converted CNN,performing object detection; and controlling a mechanical component ofan autonomous device based on the object detection.
 14. The computerprogram product as set forth in claim 13, wherein converting thepre-trained CNN further comprises an operation of converting a firstconvolution layer's kernels from RGB to grayscale.
 15. The computerprogram product as set forth in claim 14, wherein each kernel is treatedas a RGB 3-channel image and converted into a single channel grayscaleimage.
 16. The computer program product as set forth in claim 14,wherein converting the pre-trained CNN further comprises operations of:identifying and removing first convolution layer kernels having avariance below a predetermined threshold; and removing correspondingdepth slices from the identified kernels in a second convolution layer.17. The computer program product as set forth in claim 14, whereinconverting the pre-trained CNN further comprises operations of:identifying and merging first convolutional layer kernels having avariance below a predetermined threshold into a single kernel; andmerging corresponding depth slices from the identified kernels in asecond convolution layer.
 18. The computer program product as set forthin claim 13, wherein converting the pre-trained CNN further comprisesoperations of: extracting high-dimensional features from the convertedCNN; and training a classifier using the extracted high-dimensionalfeatures.
 19. The system as set forth in claim 1, wherein the autonomousdevice is an autonomous vehicle.
 20. The system as set forth in claim 1,wherein the autonomous device is a robot.